OpenRaiser/Intern-Atlas huggingface dataset:
Collision-Free Humanoid Traversal in Cluttered Indoor Scenes
Venue: arXiv cs.RO 2026
Year: 2026

We study the problem of collision-free humanoid traversal in cluttered indoor scenes, such as hurdling over objects scattered on the floor, crouching under low-hanging obstacles, or squeezing through narrow passages. To achieve this goal, the humanoid needs to map its perception of surrounding obstacles with diverse spatial layouts and geometries to the corresponding traversal skills. However, the lack of an effective representation that captures humanoid-obstacle relationships during collision avoidance makes directly learning such mappings difficult. We therefore propose Humanoid Potential Field (HumanoidPF), which encodes these relationships as collision-free motion directions, significantly facilitating RL-based traversal skill learning. We also find that HumanoidPF exhibits a surprisingly negligible sim-to-real gap as a perceptual representation. To further enable generalizable traversal skills through diverse and challenging cluttered indoor scenes, we further propose a hybrid scene generation method, incorporating crops of realistic 3D indoor scenes and procedurally synthesized obstacles. We successfully transfer our policy to the real world and develop a teleoperation system where users could command the humanoid to traverse in cluttered indoor scenes with just a single click. Extensive experiments are conducted in both simulation and the real world to validate the effectiveness of our method. Demos and code can be found in our website: https://axian12138.github.io/CAT/.
Tri-Hybrid Beamforming Design for integrated Sensing and Communications
Venue: arXiv cs.IT 2026
Year: 2026

Tri-hybrid beamforming architectures have been proposed to enable energy-efficient communications systems in extra-largescale antenna arrays using low-cost programmable metasurface antennas. We study the tri-hybrid beamforming design for integrated sensing and communications (ISAC) to improve both communications and sensing performances. Specifically, we formulate a multi-objective optimization problem that balances communications signal-to-noise ratio (SNR) and the sensing power at a target direction, subject to constraints on the total power consumption and physical limitations inherent to the trihybrid beamforming architecture. We develop an efficient iterative algorithm in which the variables are updated in a closed form at each iteration, leading to a low-complexity and fast-execution design. Numerical results show that the tri-hybrid architecture improves spatial gain and energy efficiency, though with reduced beam alignment capability compared to conventional hybrid beamforming architectures.
AgriPINN: A Process-Informed Neural Network for Interpretable and Scalable Crop Biomass Prediction Under Water Stress
Venue: arXiv cs.AI 2026
Year: 2026

Accurate prediction of crop above-ground biomass (AGB) under water stress is critical for monitoring crop productivity, guiding irrigation, and supporting climate-resilient agriculture. Data-driven models scale well but often lack interpretability and degrade under distribution shift, whereas process-based crop models (e.g. DSSAT, APSIM, LINTUL5) require extensive calibration and are difficult to deploy over large spatial domains. To address these limitations, we propose AgriPINN, a process-informed neural network that integrates a biophysical crop-growth differential equation as a differentiable constraint within a deep learning backbone. This design encourages physiologically consistent biomass dynamics under water-stress conditions while preserving model scalability for spatially distributed AGB prediction. AgriPINN recovers latent physiological variables, including leaf area index (LAI), absorbed photosynthetically active radiation (PAR), radiation use efficiency (RUE), and water-stress factors, without requiring direct supervision. We pretrain AgriPINN on 60 years of historical data across 397 regions in Germany and fine-tune it on three years of field experiments under controlled water treatments. Results show that AgriPINN consistently outperforms state-of-the-art deep-learning baselines (ConvLSTM-ViT, SLTF, CNN-Transformer) and the process-based LINTUL5 model in terms of accuracy (RMSE reductions up to $43\%$) and computational efficiency. By combining the scalability of deep learning with the biophysical rigor of process-based modeling, AgriPINN provides a robust and interpretable framework for spatio-temporal AGB prediction, offering practical value for planning of irrigation infrastructure, yield forecasting, and climate-adaptation planning.
Designing faster mixed integer linear programming algorithm via learning the optimal path
Venue: arXiv cs.AI 2026
Year: 2026

Designing faster algorithms for solving Mixed-Integer Linear Programming (MILP) problems is highly desired across numerous practical domains, as a vast array of complex real-world challenges can be effectively modeled as MILP formulations. Solving these problems typically employs the branch-and-bound algorithm, the core of which can be conceived as searching for a path of nodes (or sub-problems) that contains the optimal solution to the original MILP problem. Traditional approaches to finding this path rely heavily on hand-crafted, intuition-based heuristic strategies, which often suffer from unstable and unpredictable performance across different MILP problem instances. To address this limitation, we introduce DeepBound, a deep learning-based node selection algorithm that automates the learning of such human intuition from data. The core of DeepBound lies in learning to prioritize nodes containing the optimal solution, thereby improving solving efficiency. DeepBound introduces a multi-level feature fusion network to capture the node representations. To tackle the inherent node imbalance in branch-and-bound trees, DeepBound employs a pairwise training paradigm that enhances the model's ability to discriminate between nodes. Extensive experiments on three NP-hard MILP benchmarks demonstrate that DeepBound achieves superior solving efficiency over conventional heuristic rules and existing learning-based approaches, obtaining optimal feasible solutions with significantly reduced computation time. Moreover, DeepBound demonstrates strong generalization capability on large and complex instances. The analysis of its learned features reveals that the method can automatically discover more flexible and robust feature selection, which may effectively improve and potentially replace human-designed heuristic rules.
Variable Splitting Binary Tree Models Based on Bayesian Context Tree Models for Time Series Segmentation
Venue: arXiv cs.LG 2026
Year: 2026

We propose a variable splitting binary tree (VSBT) model based on Bayesian context tree (BCT) models for time series segmentation. Unlike previous applications of BCT models, the tree structure in our model represents interval partitioning on the time domain. Moreover, interval partitioning is represented by recursive logistic regression models. By adjusting logistic regression coefficients, our model can represent split positions at arbitrary locations within each interval. This enables more compact tree representations. For simultaneous estimation of both split positions and tree depth, we develop an effective inference algorithm that combines local variational approximation for logistic regression with the context tree weighting (CTW) algorithm. We present numerical examples on synthetic data demonstrating the effectiveness of our model and algorithm.
A Case for Hypergraphs to Model and Map SNNs on Neuromorphic Hardware
Venue: arXiv cs.AR 2026
Year: 2026

Executing Spiking Neural Networks (SNNs) on neuromorphic hardware poses the problem of mapping neurons to cores. SNNs operate by propagating spikes between neurons that form a graph through synapses. Neuromorphic hardware mimics them through a network-on-chip, transmitting spikes, and a mesh of cores, each managing several neurons. Its operational cost is tied to spike movement and active cores. A mapping comprises two tasks: partitioning the SNN's graph to fit inside cores and placement of each partition on the hardware mesh. Both are NP-hard problems, and as SNNs and hardware scale towards billions of neurons, they become increasingly difficult to tackle effectively. In this work, we propose to raise the abstraction of SNNs from graphs to hypergraphs, redesigning mapping techniques accordingly. The resulting model faithfully captures the replication of spikes inside cores by exposing the notion of hyperedge co-membership between neurons. We further show that the overlap and locality of hyperedges strongly correlate with high-quality mappings, making these properties instrumental in devising mapping algorithms. By exploiting them directly, grouping neurons through shared hyperedges, communication traffic and hardware resource usage can be reduced be yond what just contracting individual connections attains. To substantiate this insight, we consider several partitioning and placement algorithms, some newly devised, others adapted from literature, and compare them over progressively larger and bio-plausible SNNs. Our results show that hypergraph based techniques can achieve better mappings than the state-of-the-art at several execution time regimes. Based on these observations, we identify a promising selection of algorithms to achieve effective mappings at any scale.
Rethinking Composed Image Retrieval Evaluation: A Fine-Grained Benchmark from Image Editing
Venue: arXiv cs.CV 2026
Year: 2026

Composed Image Retrieval (CIR) is a pivotal and complex task in multimodal understanding. Current CIR benchmarks typically feature limited query categories and fail to capture the diverse requirements of real-world scenarios. To bridge this evaluation gap, we leverage image editing to achieve precise control over modification types and content, enabling a pipeline for synthesizing queries across a broad spectrum of categories. Using this pipeline, we construct EDIR, a novel fine-grained CIR benchmark. EDIR encompasses 5,000 high-quality queries structured across five main categories and fifteen subcategories. Our comprehensive evaluation of 13 multimodal embedding models reveals a significant capability gap; even state-of-the-art models (e.g., RzenEmbed and GME) struggle to perform consistently across all subcategories, highlighting the rigorous nature of our benchmark. Through comparative analysis, we further uncover inherent limitations in existing benchmarks, such as modality biases and insufficient categorical coverage. Furthermore, an in-domain training experiment demonstrates the feasibility of our benchmark. This experiment clarifies the task challenges by distinguishing between categories that are solvable with targeted data and those that expose intrinsic limitations of current model architectures.
Low-altitude Multi-UAV-assisted Data Collection and Semantic Forwarding for Post-Disaster Relief
Venue: arXiv cs.NI 2026
Year: 2026

The low-altitude economy (LAE) is an emerging economic paradigm which fosters integrated development across multiple fields. As a pivotal component of the LAE, low-altitude uncrewed aerial vehicles (UAVs) can restore communication by serving as aerial relays between the post-disaster areas and remote base stations (BSs). However, conventional approaches face challenges from vulnerable long-distance links between the UAVs and remote BSs, and data bottlenecks arising from massive data volumes and limited onboard UAV resources. In this work, we investigate a low-altitude multi-UAV-assisted data collection and semantic forwarding network, in which multiple UAVs collect data from ground users, form clusters, perform intra-cluster data aggregation with semantic extraction, and then cooperate as virtual antenna array (VAAs) to transmit the extracted semantic information to a remote BS via collaborative beamforming (CB). We formulate a data collection and semantic forwarding multi-objective optimization problem (DCSFMOP) that jointly maximizes both the user and semantic transmission rates while minimizing UAV energy consumption. The formulated DCSFMOP is a mixed-integer nonlinear programming (MINLP) problem that is inherently NP-hard and characterized by dynamically varying decision variable dimensionality. To address these challenges, we propose a large language model-enabled alternating optimization approach (LLM-AOA), which effectively handles the complex search space and variable dimensionality by optimizing different subsets of decision variables through tailored optimization strategies. Simulation results demonstrate that LLM-AOA outperforms AOA by approximately 26.8\% and 22.9\% in transmission rate and semantic rate, respectively.
Pay (Cross) Attention to the Melody: Curriculum Masking for Single-Encoder Melodic Harmonization
Venue: arXiv cs.SD 2026
Year: 2026

Melodic harmonization, the task of generating harmonic accompaniments for a given melody, remains a central challenge in computational music generation. Recent single encoder transformer approaches have framed harmonization as a masked sequence modeling problem, but existing training curricula inspired by discrete diffusion often result in weak (cross) attention between melody and harmony. This leads to limited exploitation of melodic cues, particularly in out-of-domain contexts. In this work, we introduce a training curriculum, FF (full-to-full), which keeps all harmony tokens masked for several training steps before progressively unmasking entire sequences during training to strengthen melody-harmony interactions. We systematically evaluate this approach against prior curricula across multiple experimental axes, including temporal quantization (quarter vs. sixteenth note), bar-level vs. time-signature conditioning, melody representation (full range vs. pitch class), and inference-time unmasking strategies. Models are trained on the HookTheory dataset and evaluated both in-domain and on a curated collection of jazz standards, using a comprehensive set of metrics that assess chord progression structure, harmony-melody alignment, and rhythmic coherence. Results demonstrate that the proposed FF curriculum consistently outperforms baselines in nearly all metrics, with particularly strong gains in out-of-domain evaluations where harmonic adaptability to novel melodic queues is crucial. We further find that quarter-note quantization, intertwining of bar tokens, and pitch-class melody representations are advantageous in the FF setting. Our findings highlight the importance of training curricula in enabling effective melody conditioning and suggest that full-to-full unmasking offers a robust strategy for single encoder harmonization.
Structured Hints for Sample-Efficient Lean Theorem Proving
Venue: arXiv cs.AI 2026
Year: 2026

State-of-the-art neural theorem provers like DeepSeek-Prover-V1.5 combine large language models with reinforcement learning, achieving impressive results through sophisticated training. We ask: do these highly-trained models still benefit from simple structural guidance at inference time? We evaluate a lightweight intervention -- a fixed prompt schedule over 15 common tactic skeletons -- on the miniF2F benchmark. This simple approach yields 21.7% pass@16 compared to 15.2% for standard sampling from the same model, a 43% relative improvement using the same number of samples (k=16) and same maximum generation length (1024 tokens). Our results suggest that even capable RL-trained provers underutilize structural priors available in the tactic language, and that simple inference-time guidance remains a cheap, complementary boost.
Average Unfairness in Routing Games
Venue: arXiv cs.MA 2026
Year: 2026

We propose average unfairness as a new measure of fairness in routing games, defined as the ratio between the average latency and the minimum latency experienced by users. This measure is a natural complement to two existing unfairness notions: loaded unfairness, which compares maximum and minimum latencies of routes with positive flow, and user equilibrium (UE) unfairness, which compares maximum latency with the latency of a Nash equilibrium. We show that the worst-case values of all three unfairness measures coincide and are characterized by a steepness parameter intrinsic to the latency function class. We show that average unfairness is always no greater than loaded unfairness, and the two measures are equal only when the flow is fully fair. Besides that, we offer a complete comparison of the three unfairness measures, which, to the best of our knowledge, is the first theoretical analysis in this direction. Finally, we study the constrained system optimum (CSO) problem, where one seeks to minimize total latency subject to an upper bound on unfairness. We prove that, for the same tolerance level, the optimal flow under an average unfairness constraint achieves lower total latency than any flow satisfying a loaded unfairness constraint. We show that such improvement is always strict in parallel-link networks and establish sufficient conditions for general networks. We further illustrate the latter with numerical examples. Our results provide theoretical guarantees and valuable insights for evaluating fairness-efficiency tradeoffs in network routing.
360Anything: Geometry-Free Lifting of Images and Videos to 360°
Venue: arXiv cs.CV 2026
Year: 2026

Lifting perspective images and videos to 360° panoramas enables immersive 3D world generation. Existing approaches often rely on explicit geometric alignment between the perspective and the equirectangular projection (ERP) space. Yet, this requires known camera metadata, obscuring the application to in-the-wild data where such calibration is typically absent or noisy. We propose 360Anything, a geometry-free framework built upon pre-trained diffusion transformers. By treating the perspective input and the panorama target simply as token sequences, 360Anything learns the perspective-to-equirectangular mapping in a purely data-driven way, eliminating the need for camera information. Our approach achieves state-of-the-art performance on both image and video perspective-to-360° generation, outperforming prior works that use ground-truth camera information. We also trace the root cause of the seam artifacts at ERP boundaries to zero-padding in the VAE encoder, and introduce Circular Latent Encoding to facilitate seamless generation. Finally, we show competitive results in zero-shot camera FoV and orientation estimation benchmarks, demonstrating 360Anything's deep geometric understanding and broader utility in computer vision tasks. Additional results are available at https://360anything.github.io/.
Feature-Space Adversarial Robustness Certification for Multimodal Large Language Models
Venue: arXiv cs.LG 2026
Year: 2026

Multimodal large language models (MLLMs) exhibit strong capabilities across diverse applications, yet remain vulnerable to adversarial perturbations that distort their feature representations and induce erroneous predictions. To address this vulnerability, we propose Feature-space Smoothing (FS), a general framework that provides certified robustness guarantees at the feature representation level of MLLMs. We theoretically prove that FS converts a given feature extractor into a smoothed variant that is guaranteed a certified lower bound on the cosine similarity between clean and adversarial features under $\ell_2$-bounded perturbations. Moreover, we establish that the value of this Feature Cosine Similarity Bound (FCSB) is determined by the intrinsic Gaussian robustness score of the given encoder. Building on this insight, we introduce the Gaussian Smoothness Booster (GSB), a plug-and-play module that enhances the Gaussian robustness score of pretrained MLLMs, thereby strengthening the robustness guaranteed by FS, without requiring additional MLLM retraining. Extensive experiments demonstrate that applying the FS to various MLLMs yields strong certified feature-space robustness and consistently leads to robust task-oriented performance across diverse applications.
Counterfactual Training: Teaching Models Plausible and Actionable Explanations
Venue: arXiv cs.LG 2026
Year: 2026

We propose a novel training regime termed counterfactual training that leverages counterfactual explanations to increase the explanatory capacity of models. Counterfactual explanations have emerged as a popular post-hoc explanation method for opaque machine learning models: they inform how factual inputs would need to change in order for a model to produce some desired output. To be useful in real-world decision-making systems, counterfactuals should be plausible with respect to the underlying data and actionable with respect to the feature mutability constraints. Much existing research has therefore focused on developing post-hoc methods to generate counterfactuals that meet these desiderata. In this work, we instead hold models directly accountable for the desired end goal: counterfactual training employs counterfactuals during the training phase to minimize the divergence between learned representations and plausible, actionable explanations. We demonstrate empirically and theoretically that our proposed method facilitates training models that deliver inherently desirable counterfactual explanations and additionally exhibit improved adversarial robustness.
IVRA: Improving Visual-Token Relations for Robot Action Policy with Training-Free Hint-Based Guidance
Venue: arXiv cs.RO 2026
Year: 2026

Many Vision-Language-Action (VLA) models flatten image patches into a 1D token sequence, weakening the 2D spatial cues needed for precise manipulation. We introduce IVRA, a lightweight, training-free method that improves spatial understanding by exploiting affinity hints already available in the model's built-in vision encoder, without requiring any external encoder or retraining. IVRA selectively injects these affinity signals into a language-model layer in which instance-level features reside. This inference-time intervention realigns visual-token interactions and better preserves geometric structure while keeping all model parameters fixed. We demonstrate the generality of IVRA by applying it to diverse VLA architectures (LLaRA, OpenVLA, and FLOWER) across simulated benchmarks spanning both 2D and 3D manipulation (VIMA and LIBERO) and on various real-robot tasks. On 2D VIMA, IVRA improves average success by +4.2% over the baseline LLaRA in a low-data regime. On 3D LIBERO, it yields consistent gains over the OpenVLA and FLOWER baselines, including improvements when baseline accuracy is near saturation (96.3% to 97.1%). All code and models will be released publicly. Visualizations are available at: jongwoopark7978.github.io/IVRA